16-264: Humanoids
Spring 2008
Instructor: Chris Atkeson, cga @ cmu
TA: Sam Clanton, sclanton @ cs
Time: TR 3-4:20PM Place: PH A18A Units: 12

Wowee has donated 40 Robosapien RS Media robots for this course!!!!! Many Thanks!

For more information, take a look at the previous version of this course.

Jan 15: Introduction
Jan 17: Robosapien Introduction
Jan 22: Kinematics
Jan 24: TA talks
Jan 29: Inverse Kinematics
Ch. 10 Minimization or Maximization of Functions in Numerical Recipes in C
Matlab example code and cost function subroutine
Jan 31: Learning: (gradient approaches)
Feb 5: Vision (blob tracking)
Feb 7: Planning (value functions)
Feb 12: Differential Kinematics
Feb 14: Dynamic simulation
Feb 19: Visual recognition
Feb 21: Bill Gates Holiday!
Feb 26: Dynamic simulation II
Feb 28: Kinematic and Dynamic Learning
Mar 4: Discuss Projects
Mar 6: Planning
Rapidly-exploring Random Trees (RRTs)
Mar 18: Hearing the Shape of a State Space: New Frontiers in Representation Discovery: Talk by Sridhar Mahadevan
Mar 20: Probability, Bayes Law.
Mar 25: Kalman Filters.
Mar 26: Cognitive Developmental Robotics and RoboCup: Talk by Minoru Asada
Mar 27: No class, go to Mar. 26 talk
April 1: TA gives talk.
April 3: More on probability, Kalman filters
April 8: Finish Kalman filters, control
April 10: Little Dog
April 15: Hand shaking: Control, Muscles

For more example projects, take a look at a previous version of this course.

Keep the screws that held the feet in the box.
Keep the plastic that was around the head and backpack.
Be sure to find the power supply and manual below the feet.
When you are sure you have everything out of the box, you can recycle or discard the packaging.